import launch, launch_ros

def generate_launch_description():
    action_node_tf_node = launch_ros.actions.Node(
        package = 'demo_cpp_tf',    # 功能包的名字 
        executable = 'dynamic_tf_broadcaster',    # 可执行文件的名字
        output = 'both',
    )
    
    action_node_serial_node = launch_ros.actions.Node(
        package = 'demo_cpp_tf',
        executable = 'serial_node',
        output = 'both',
    )
    
    launch_description = launch.LaunchDescription([
        action_node_tf_node,
        action_node_serial_node,
    ]
    )
    
    return launch_description
